Changing set points in a resonant system

Abstract

A method for changing a set point of a system where period of a dominant resonance of the system is determined, a change profile for the set point change is processed; a time period for the set point change based on the period of the dominant resonance in order to minimize excitation of the dominant resonance is also processed; and the set point change is actioned according to the processed change profile and the time period.

The invention claimed is: 
     
       1. A method for changing a set point of a system in a borehole, comprising:
 determining the period of a dominant resonance of the system; 
 identifying a change profile for the set point change; 
 determining a time period for the set point change based on the period of the dominant resonance to control the dominant resonance; and 
 performing the set point change according to the change profile and the time period. 
 
     
     
       2. The method of  claim 1 , wherein the time period is a multiple of the period of the dominant resonance. 
     
     
       3. The method of  claim 2 , wherein the change profile is a linear change profile, and the time period is an integer multiple of the period of the dominant resonance. 
     
     
       4. The method of  claim 2 , wherein the time derivative of the change profile has a half-period of a sine-wave, and the time period is an integer-plus-a-half multiple of the period of the dominant resonance. 
     
     
       5. The method of  claim 1 , wherein the change profile is symmetric about a mid-time of a change. 
     
     
       6. The method of  claim 1 , wherein the determination of the time period for the set point change is performed by taking the Fourier transform of the time derivative of the change profile. 
     
     
       7. The method of  claim 1 , wherein the borehole system is a drillstring. 
     
     
       8. The method of  claim 1 , wherein the borehole system is a wireline. 
     
     
       9. The method of  claim 1 , wherein the borehole system is an electro-submersible pump. 
     
     
       10. A control system for changing a set point of a system in a borehole, comprising:
 a processor configured to:
 determine the period of a dominant resonance of the system; 
 process a change profile for the set point change from a system property; and 
 determine a time period for the set point change based on the period of the dominant resonance to control the dominant resonance; and 
 a controller configured to control the system to perform the set point change according to the change profile and the time period. 
 
 
     
     
       11. The control system of  claim 10 , further comprising one or more sensors to sense properties of the system or the borehole or both, wherein the determination of the period of the dominant resonance of the system or the processing of the change profile or both are based on the sensed properties. 
     
     
       12. The system of  claim 10  wherein the system comprises a rig or a tool. 
     
     
       13. The control system of  claim 10 , wherein the system comprises a managed pressure drilling system. 
     
     
       14. The control system of  claim 10 , wherein the system comprises a drilling system. 
     
     
       15. The control system of  claim 10 , wherein the system comprises an automated system for operating one or more systems in a borehole.